We are tent campers. We have a backpacking tent and a much larger, six-person tent. In the backpacking tent, the dogs seem to end up climbing on top of us. Not sure how that evolved, but I usually end up curled up on the edge of my sleeping pad and the rest of it is occupied by one or more dogs.
When using the larger tent, the wife and I use cots and the kids use an inflatable mattress. The mattress is large enough for the kids and dogs, so there usually isn’t too much squabbling over space.
We just do our best to make sure the dogs are generally clean before letting them in the tents. The hair is bad enough but we don’t want any freeloaders joining us for the night if we can help it.